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Chapter 13 Control Sub Functions
(2) Deceleration curve continuation
The current deceleration curve is continued after a stop cause has occurred.
If a stop cause occurs during automatic deceleration of position control, the
deceleration stop processing may be complete before the target has
reached the positioning address specified in the positioning data that is
currently executed.
Stop cause occurrence
t
V
Deceleration stop
processing (automatic
deceleration) start
Fig. 13.52 Deceleration curve continuation operation (for position control or S-curve
acceleration/deceleration processing)
[2] Precautions for control
(1) In manual control (JOG operation, inching operation, manual pulse generator
operation) and speed-torque control, the stop command processing for
deceleration stop function is invalid.
(2) The stop command processing for deceleration stop function is valid when "0:
Normal deceleration stop" is set in "[Pr.37] Stop group 1 rapid stop selection"
to "[Pr.39] Stop group 3 rapid stop selection" as the stopping method for stop
cause occurrence.
(3) The stop command processing for deceleration stop function is invalid when
"1: Rapid stop" is set in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39]
Stop group 3 rapid stop selection". (A deceleration curve is re-processed
starting from the speed at stop cause occurrence until at a stop, according to
the "[Pr.36] Rapid stop deceleration time".)
In the position control (including position control of speed/position
changeover control or position/speed changeover control) mode, positioning
may stop immediately depending on the stop cause occurrence timing and
"[Pr.36] Rapid stop deceleration time" setting.
Stop cause occurrence
(Rapid stop cause)
Deceleration curve
according to rapid
stop deceleration time
Deceleration curve
when stop cause
does not occur
(Immediate stop at the specified positioning address)
t
V
Deceleration stop
processing (automatic
deceleration) start
Stop cause occurrence
(Rapid stop cause)
Deceleration curve according
to rapid stop deceleration time
Deceleration curve when
stop cause does not occur
(Rapid stop in front of the specified positioning address)
t
V
Deceleration stop
processing (automatic
deceleration) start
Fig. 13.53 Rapid stop operation (for position control or S-curve acceleration/deceleration processing)
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